STEREO IMAGE PROCESSING DEVICE FOR VEHICLE

摘要

In the lane line detection performed by a left-right similar object detection module, changes in brightness in the road width direction in a image plane are evaluated, a point group serving as a lane line candidate is extracted, and a lane line model is generated by calculating the parallax of left and right lane line candidate points and transforming the result into real space coordinates. A camera displacement diagnosis module determines a camera displacement by calculating a diagnostic value based on a difference between the parallaxes of the left and right lane lines in the same horizontal line between reference comparative images captured by a stereo camera unit. Where the camera displacement has occurred, a vehicle control device is instructed to stop the control function or make a transition to failsafe control, and a warning is issued instructing a user to take the vehicle to a maintenance site for inspection.

主权项

1. A stereo image processing device for a vehicle that processes images captured by a stereo camera unit installed on the vehicle and three-dimensionally recognizes a traveling environment, the device comprising:
a left-right similar object detection module that detects a left side object and right side object which is similar to the left side object present as a pair on the left and right side of the vehicle from an image captured by the stereo camera unit, performs matching processing of the left side object and the right side object, and calculates a parallax of the left side object and a parallax of the right side object on a same horizontal line of the image; and a camera displacement diagnosis module that calculates a diagnostic value based on a difference between the parallax of the left side object and the parallax of the right side object on the same horizontal line, compares the diagnostic value with a preset threshold value, and diagnoses a mechanical displacement in the stereo camera unit.